1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
|
/*! \example tutorial-grabber-multiple-realsense.cpp */
#include <visp3/core/vpImage.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpRealSense.h>
#include <visp3/sensor/vpRealSense2.h>
/*!
Grab images from multiple Intel realsense cameras
*/
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0)) && \
(VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::vector<std::pair<std::string, std::string> > type_serial_nb;
std::vector<bool> cam_found;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--T265") {
type_serial_nb.push_back(std::make_pair("T265", std::string(argv[i + 1])));
} else if (std::string(argv[i]) == "--D435") {
type_serial_nb.push_back(std::make_pair("D435", std::string(argv[i + 1])));
} else if (std::string(argv[i]) == "--SR300") {
type_serial_nb.push_back(std::make_pair("SR300", std::string(argv[i + 1])));
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--T265 <serial number>] [--D435 <serial number>] [--SR300 <serial number>]\n"
<< "\nExample to use 2 T265 cameras:\n"
<< " " << argv[0] << " --T265 11622110511 --T265 11622110433 \n"
<< "\nExample to use 1 T265 and 1 D435 cameras:\n"
<< " " << argv[0] << " --T265 11622110511 --D435 752112077408 \n"
<< "\nExample to use 2 T265 and 1 D435 cameras:\n"
<< " " << argv[0] << " --T265 11622110511 --T265 11622110433 --D435 752112070408 \n"
<< std::endl;
return EXIT_SUCCESS;
}
}
rs2::config T265_cfg, D435_cfg;
std::vector<vpRealSense2> g(type_serial_nb.size());
std::vector<vpImage<unsigned char> > I(type_serial_nb.size());
#ifdef VISP_HAVE_X11
std::vector<vpDisplayX> d(type_serial_nb.size());
#elif defined(VISP_HAVE_GDI)
std::vector<vpDisplayGDI> d(type_serial_nb.size());
#elif defined(HAVE_OPENCV_HIGHGUI)
std::vector<vpDisplayOpenCV> d(type_serial_nb.size());
#else
std::cout << "No image viewer is available..." << std::endl;
#endif
bool clicked = false;
for (size_t i = 0; i < type_serial_nb.size(); i++) {
std::cout << "Opening " << type_serial_nb[i].first << " with ID: " << type_serial_nb[i].second << "." << std::endl;
if (type_serial_nb[i].first == "T265") { // T265.
T265_cfg.enable_device(type_serial_nb[i].second);
T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
T265_cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);
cam_found.push_back(g[i].open(T265_cfg));
if (!cam_found.back()) {
std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
}
} else { // D435 or SR300
D435_cfg.enable_device(type_serial_nb[i].second);
D435_cfg.disable_stream(RS2_STREAM_DEPTH);
D435_cfg.disable_stream(RS2_STREAM_INFRARED);
D435_cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
cam_found.push_back(g[i].open(D435_cfg));
if (!cam_found.back()) {
std::cout << "Device with ID: " << type_serial_nb[i].second << " not found." << std::endl;
}
}
}
while (true) {
for (size_t i = 0; i < type_serial_nb.size(); i++) {
if (cam_found[i]) {
if (type_serial_nb[i].first == "T265") { // T265.
g[i].acquire(&I[i], NULL, NULL);
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
if (!d[i].isInitialised()) {
d[i].init(I[i], static_cast<int>(100 * i), static_cast<int>(100 * i), "T265 left image");
}
#endif
}
else { // D435.
g[i].acquire(I[i]);
#if defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)
if (!d[i].isInitialised()) {
d[i].init(I[i], static_cast<int>(100 * i), static_cast<int>(100 * i), type_serial_nb[i].first.c_str());
}
#endif
}
vpDisplay::display(I[i]);
vpDisplay::flush(I[i]);
clicked = vpDisplay::getClick(I[i], false);
}
if (clicked) {
break;
}
}
if (clicked) {
break;
}
}
#else
(void)argc;
(void)argv;
#if !(defined(VISP_HAVE_REALSENSE2))
std::cout << "Install librealsense version > 2.31.0, configure and build ViSP again to use this example" << std::endl;
#endif
#if !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
std::cout << "librealsense is detected but its version is too old. Install librealsense version > 2.31.0, configure "
"and build ViSP again to use this example"
<< std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "This tutorial should be built with c++11 support" << std::endl;
#endif
#endif
return EXIT_SUCCESS;
}
|
